Method and computer program product for estimating at least one state of a dynamic system
First Claim
1. A method of estimating at least one operational state of a dynamic system utilizing at least partially automated control and having at least one actuator and at least one sensor, the method comprising:
- generating a first feedback signal at least partially based upon an anticipated change in a value representative of the at least one operational state of the dynamic system that is attributable to a current estimate of the value representative of the at least one operational state of the dynamic system and the commanded state of the at least one actuator and independent of the actual measurement of any sensor;
generating a second feedback signal at least partially based upon a difference between a value of an anticipated measurement that is expected to be provided by the at least one sensor and a value of the actual measurement provided by the at least one sensor, wherein generating the second feedback signal comprises weighting the difference between the respective values of the anticipated and actual measurements of the at least one sensor based upon a predetermined criteria; and
combining the first and second feedback signals to produce an estimate of the at least one operational state of the dynamic system.
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Accused Products
Abstract
A method and computer program product are provided for estimating the states of a dynamic system based upon a combination of first and second feedback signals. The first feedback signal is based upon anticipated state changes and is typically represented by a state propagation model. The second feedback signal is based upon the difference between the anticipated and actual measurements of the sensors. This difference may be weighted based upon a predetermined criteria, such as the credibility of the actual measurements and/or the degree to which outlying sensor measurements are to be discounted. The weighted difference is converted into a corresponding change in the state estimates. At least one feedback signal may then be modified to define its relative contribution to the state estimates. The first and second feedback signals are thereafter combined to produce the state estimates, subject generally to limitations upon the permissible changes in the state estimates.
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Citations
40 Claims
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1. A method of estimating at least one operational state of a dynamic system utilizing at least partially automated control and having at least one actuator and at least one sensor, the method comprising:
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generating a first feedback signal at least partially based upon an anticipated change in a value representative of the at least one operational state of the dynamic system that is attributable to a current estimate of the value representative of the at least one operational state of the dynamic system and the commanded state of the at least one actuator and independent of the actual measurement of any sensor;
generating a second feedback signal at least partially based upon a difference between a value of an anticipated measurement that is expected to be provided by the at least one sensor and a value of the actual measurement provided by the at least one sensor, wherein generating the second feedback signal comprises weighting the difference between the respective values of the anticipated and actual measurements of the at least one sensor based upon a predetermined criteria; and
combining the first and second feedback signals to produce an estimate of the at least one operational state of the dynamic system. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method of estimating at least one operational state of a dynamic system utilizing at least partially automated control and having at least one actuator and at least one sensor, the method comprising:
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generating a first feedback signal at least partially based upon an anticipated change in a value representative of the at least one operational state of the dynamic system that is attributable to a current estimate of the value representative of the at least one operational state of the dynamic system and the commanded state of the at least one actuator and independent of the actual measurement of any sensor;
generating a second feedback signal at least partially based upon a value of an anticipated measurement that is expected to be provided by the at least one sensor and a value of the actual measurement provided by the at least one sensor;
combining the first and second feedback signals to produce an estimate of the at least one operational state of the dynamic system; and
limiting permissible changes in the estimate of the at least one operational state of the dynamic system based upon a predetermined criteria. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
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25. A computer program product for estimating at least one operational state of a dynamic system utilizing at least partially automated control and having at least one actuator and at least one sensor, the computer program product comprising a computer-readable storage medium having computer-readable program code embodied in said medium, the computer-readable program code comprising:
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a first executable portion adapted to generate a first feedback signal at least partially based upon an anticipated change in a value representative of the at least one operational state of the dynamic system that is attributable to a current estimate of the value representative of the at least one operational state of the dynamic system and the commanded state of the at least one actuator and independent of the actual measurement of any sensor;
a second executable portion adapted to generate a second feedback signal at least partially based upon a difference between a value of an anticipated measurement that is expected to be provided by the at least one sensor and a value of the actual measurement provided by the at least one sensor, wherein said second executable portion is also adapted to weight the difference between the respective values of the anticipated and actual measurements of the at least one sensor based upon a predetermined criteria; and
a third executable portion adapted to combine the first and second feedback signals to produce an estimate of the at least one operational state of the dynamic system. - View Dependent Claims (26, 27, 28, 29, 30, 31, 32)
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33. A computer program product for estimating at least one operational state of a dynamic system utilizing at least partially automated control and having at least one actuator and at least one sensor, the computer program product comprising a computer-readable storage medium having computer-readable program code embodied in said medium, the computer-readable program code comprising:
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a first executable portion adapted to generate a first feedback signal at least partially based upon an anticipated change in a value representative of the at least one operational state of the dynamic system that is attributable to a current estimate of the value representative of the at least one operational state of the dynamic system and the commanded state of the at least one actuator and independent of the actual measurement of any sensor;
a second executable portion adapted to generate a second feedback signal at least partially based upon a value of an anticipated measurement that is expected to be provided by the at least one sensor and a value of the actual measurement provided by the at least one sensor;
a third executable portion adapted to combine the first and second feedback signals to produce an estimate of the at least one operational state of the dynamic system; and
a fourth executable portion adapted to limit permissible changes in the estimate of the at least one operational state of the dynamic system based upon a predetermined criteria. - View Dependent Claims (34, 35, 36, 37, 38, 39, 40)
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Specification